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		<title>Open Dynamic Robot Initiative</title>
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				<h1>Open Dynamic Robot Initiative</h1>
				<h3>An Open Torque-Controlled Modular Robot Architecture for
                        Legged Locomotion Research</h3>
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                    <img style="height:220px" src="leg_stand.jpg" />
                    <img style="height:220px" src="solo.jpg" />
                    <img style="height:220px" src="solo2.png" />
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                <h2>Introduction</h2>
				<p>
                    This website is the entry point to the ressources of the Open Dynamic Robot Initiative.
                    This project originated in an effort to build a low cost and low complexity actuator module using brushless motors
                    that can be used to build different types of torque controlled robots with mostly 3D printed
                    and off-the-shelves components. This module, and extensions, can be used to build legged robots or manipulators.
                    A paper describing the actuator module and the quadruped design can be found <a href=https://arxiv.org/abs/1910.00093>here</a>.
                </p>    

                <h2>Videos</h2>
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                    <source src="solo_video.mp4" type="video/mp4">
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		More videos are available on our <a href="https://www.youtube.com/channel/UCx32JW2oIrax47Gjq8zNI-w">YouTube channel.<a/>
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                <h2>Build you own robot!</h2>
                    All the hardware (drawings) and software has been open sourced under the BSD 3-clause license so the robots
                    can easily be reproduced by other research laboratories. Everyone is welcomes to contribute to the project!
                    <p>All the sources are hosted on the <a href="https://github.com/open-dynamic-robot-initiative">Open Dynamic Robot Initiative Github site</a></p>
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							The sources for the mechanics and electronics are available in the
                            <a href="https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware">Open Robot Actuator Hardware Repository</a>
                            and contains the actuator module, the one legged-robot, the quadruped Solo, the foot contact sensor and the electronics described in
                            the paper <a href="https://arxiv.org/abs/1910.00093">An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research</a>
						</li>
						<li>
                            A general software overview and documentation for the projects is available in the 
                                <a href="https://github.com/open-dynamic-robot-initiative/open-dynamic-robot-initiative.github.io/wiki/Open-Dynamic-Robot-Initiative-Documentation">Open Dynamic Robot Initiative Software Documentation</a>
                            The main software is available in several libraries:
                            <ul style="padding-left: 20px">
                                <li><a href="https://github.com/open-dynamic-robot-initiative/blmc_drivers">The Brushless Motor Control Real-Time CAN API</a>
                                    that contain the API for real-time communication with the motor control board
                                </li>
                                <li><a href="https://github.com/open-dynamic-robot-initiative/amd_motorware_ext">MotorWare Extensions</a>
                                    that contains some modules that extend the Texas Instruments MotorWare library as well as a patch file to apply some required modifications on the original MotorWare library itself.
                                </li>
                                <li><a href="https://github.com/open-dynamic-robot-initiative/user_config_f28069m_drv8305">MotorWare Configuration Files</a> 
                                    that  contains the global configuration files that are used by all our MotorWare projects.</li>
                            </ul>
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                <h2>Partners</h2>
                <p>This work is done in collaboration between the <a href="https://mg.is.tuebingen.mpg.de/">Motion Generation and Control Group</a>,
                    <a href="https://dlg.is.mpg.de/">the Dynamic Locomotion Group</a> and the <a href="https://is.tuebingen.mpg.de/en/robotics">Robotics Central Scientific Facility</a>
                    at the <a href="https://is.tuebingen.mpg.de/">Max-Planck Institute for Intelligent System<a/> ,
                    the <a href="https://wp.nyu.edu/machinesinmotion">Machines in Motion Laboratory</a> at <a href="https://engineering.nyu.edu/">New York University's Tandon School of Engineering</a>
                    and the <a href="https://gepettoweb.laas.fr/"> Gepetto Team</a> at the <a href="https://www.laas.fr/public/">LAAS/CNRS</a>.
                </p>

                <h2>Referencing the project</h2>
                You can reference the project with the following citation:<br><br>
                <em><small>@article{grimminger2019open,<br>
                    title={An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research},<br>
                    author={Felix Grimminger and Avadesh Meduri and Majid Khadiv and Julian Viereck and Manuel Wüthrich and Maximilien Naveau and Vincent Berenz and Steve Heim and Felix Widmaier and Jonathan Fiene and Alexander Badri-Spröwitz and Ludovic Righetti},<br>
                    year={2019},<br>
                    eprint={1910.00093},<br>
                    archivePrefix={arXiv},<br>
                    primaryClass={cs.RO}}<br><br>
            </small>
                </em>
                The pdf of the paper is available <a href="https://arxiv.org/pdf/1910.00093.pdf">here</a>


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